CN107425769A - The Auto-disturbance-rejection Control and system of a kind of Permanent-magnet Synchronous-motor Speed Servo System - Google Patents

The Auto-disturbance-rejection Control and system of a kind of Permanent-magnet Synchronous-motor Speed Servo System Download PDF

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CN107425769A
CN107425769A CN201710680501.2A CN201710680501A CN107425769A CN 107425769 A CN107425769 A CN 107425769A CN 201710680501 A CN201710680501 A CN 201710680501A CN 107425769 A CN107425769 A CN 107425769A
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control
submodel
permanent
motor speed
magnet synchronous
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CN107425769B (en
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唐彬彬
曾岳南
徐道明
赵友阳
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Guangdong University of Technology
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Guangdong University of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Ac Motors In General (AREA)
  • Feedback Control In General (AREA)

Abstract

The embodiment of the invention discloses a kind of Auto-disturbance-rejection Control of Permanent-magnet Synchronous-motor Speed Servo System and system, by the rotor velocity and torque current that gather Permanent-magnet Synchronous-motor Speed Servo System；The active disturbance rejection model adapted to using the disturbance pre-established is handled rotor velocity and torque current, obtains controlling output signal；Rotating speed control is carried out to Permanent-magnet Synchronous-motor Speed Servo System according to control output signal；Active disturbance rejection model is to observe what submodel was established according to first-order linear Active Disturbance Rejection Control submodel, identification of rotational inertia submodel and load torque；Identification of rotational inertia submodel is established according to Landau identification algorithm, passes through the rotary inertia and calculation relational expression b picked out0=Kt/ J controls gain b to system0It is adjusted；Load torque observation submodel is established according to extended state observer.The embodiment of the present invention improves to controlling gain b in use0Regulation accuracy, improve the antijamming capability of Permanent-magnet Synchronous-motor Speed Servo System.

Description

The Auto-disturbance-rejection Control and system of a kind of Permanent-magnet Synchronous-motor Speed Servo System
Technical field
The present embodiments relate to permagnetic synchronous motor control field, more particularly to a kind of PMSM Speed system The Auto-disturbance-rejection Control and system of system.
Background technology
Permagnetic synchronous motor is the magneto of a kind of rotor and space magnetic field synchronous rotary, and with control theory, The development of the technologies such as power electronic devices, permanent-magnet material and microprocessor, permanent magnet synchronous electric motor driving technique achieve huge Progressive, the application in the industries and field such as high-precision processing, robot, Aero-Space and electric automobile is more and more extensive.
With the expansion of permagnetic synchronous motor application, performance requirement of the people to PMSM Servo System Improve constantly, but permagnetic synchronous motor is non-linear, cross-couplings and containing the controlled device of multiple known variables, and Exist in actual moving process external loading disturbance and other etc. uncertain factor influence.Conventional AC servo-drive system speed control Device processed typically uses PID controller (Proportion Integration Differentiation, proportional-integral-differential control Device processed), it is difficult to make system while there is superior dynamic response, followability and vulnerability to jamming, PID controller is watched for high-performance Taking control system has certain limitation, it is difficult to obtains satisfied control effect.Therefore, the control plan of permagnetic synchronous motor is studied Development slightly to permagnetic synchronous motor application is significant.
In numerous control strategies, the active disturbance rejection control proposed for solving deficiency present in PID control a kind of in recent years System is gradually emerging in Motor Control Field, and such a control takes into account stability and vulnerability to jamming.
At present, when being controlled to controlled system, mainly influenceed by perturbation of inertia and load disturbance, and can be with By controlling gain b to be adjusted controlled system, and then realize the perturbation of inertia Self Adaptive Control of system.Due in active disturbance rejection Gain b is controlled different definition, the optimal control only drawn according to particular system in different control systems to be present in control Gain processed can just make the control to system reach optimal control effect, it is possible to by being adjusted to control gain b, carry The high control effect to system.In the prior art, when control gain b is adjusted, mainly gathered using manually examination Mode it is adjusted, due to control gain b constantly change, so using manually try gather by the way of be adjusted, accurately Spend that relatively low, error is larger, so as to which control gain b can not be made to adjust to optimum value, and then controlled system can not be made to reach optimal Control effect, make the antijamming capability of controlled system relatively low.
Therefore, how a kind of Active Disturbance Rejection Control side for the Permanent-magnet Synchronous-motor Speed Servo System for solving above-mentioned technical problem is provided Method and system, which turn into those skilled in the art, to be needed to solve the problems, such as at present.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of Auto-disturbance-rejection Control of Permanent-magnet Synchronous-motor Speed Servo System and is System, improve in use to controlling gain b0Regulation accuracy, improve the anti-of Permanent-magnet Synchronous-motor Speed Servo System Interference performance.
In order to solve the above technical problems, the embodiments of the invention provide a kind of active disturbance rejection of Permanent-magnet Synchronous-motor Speed Servo System Control method, including：
Gather the rotor velocity and torque current of Permanent-magnet Synchronous-motor Speed Servo System；
The active disturbance rejection model adapted to using the disturbance pre-established is carried out to the rotor velocity and the torque current Processing, obtain controlling output signal；
Rotating speed control is carried out to the Permanent-magnet Synchronous-motor Speed Servo System according to the control output signal；
The active disturbance rejection model is according to first-order linear Active Disturbance Rejection Control submodel, identification of rotational inertia submodel and load Torque observation submodel is established；The identification of rotational inertia submodel is established according to Landau identification algorithm, and passes through identification The rotary inertia and calculation relational expression b gone out0=Kt/ J controls gain b to system0It is adjusted, wherein, the KtRepresent torque system Number, the J represent rotary inertia；What the load torque observation submodel was established according to extended state observer, and will observation The load torque gone out carries out feedforward compensation.
Optionally, it is described that rotating speed control is carried out to the Permanent-magnet Synchronous-motor Speed Servo System according to the control output signal Process be：
The control output signal carries out amplitude limiting processing, and according to the control output signal after processing to the permanent-magnet synchronous Motor speed regulation system carries out rotating speed control.
Optionally, the first-order linear Active Disturbance Rejection Control submodel includes first-order linear tracking derivative controller, second order line Property extended state observer and first-order linear state error feedback rate control；
The first-order linear tracks derivative controllerWherein, z11For the given letter after transition Number, ν tracks the gain of derivative controller, ω for the first-order linearmFor Setting signal；
The second-order linearity extended state observer isWherein, z21For it is described forever The observation of magnetic-synchro motor speed regulation system output variable, z22For the observation of Permanent-magnet Synchronous-motor Speed Servo System synthesis disturbance Value, β21And β22For the control gain of the second-order linearity extended state observer,For the rotor velocity；
The first-order linear state error feedback rate control isWherein, β11For control coefrficient, u0 Exported for error feedback rate control, u is the output signal of the first-order linear Active Disturbance Rejection Control submodel.
Optionally, the identification of rotational inertia submodel is established according to Landau identification algorithm, including：
The identification of rotational inertia submodel is established according to reference model, adjustable model and identification algorithm；
The reference model is ωm(g)=2 ωm(g-1)-ωm(g-2)+b (g-1) U (g-1), the adjustable model areThe identification algorithm is Wherein, sampling time Ts, b (g)=Ts/ J, U (g)=Te(g-1)-Te(g-2), TeFor Electromagnetic torque, β are Self Adaptive Control gain.
Optionally, the load torque observation submodel is established according to extended state observer, including：
According to extended state observerEstablish the load torque observation submodule Type, wherein,For the observation of load torque, B is viscosity friction coefficient, and fal (e) is nonlinear function, k1And k2Turn for load The control gain of square observer.
In order to solve the above technical problems, the embodiments of the invention provide a kind of active disturbance rejection of Permanent-magnet Synchronous-motor Speed Servo System Control system, including：
Acquisition module, for gathering the rotor velocity and torque current of Permanent-magnet Synchronous-motor Speed Servo System；
Processing module, for the active disturbance rejection model that is adapted to using the disturbance pre-established to the rotor velocity and described Torque current is handled, and obtains controlling output signal；
Control module, for carrying out rotating speed control to the Permanent-magnet Synchronous-motor Speed Servo System according to the control output signal System；
The active disturbance rejection model is according to first-order linear Active Disturbance Rejection Control submodel, identification of rotational inertia submodel and load Torque observation submodel is established；The identification of rotational inertia submodel is established according to Landau identification algorithm, and passes through identification The rotary inertia and calculation relational expression b gone out0=Kt/ J controls gain b to system0It is adjusted, wherein, the KtRepresent torque system Number, the J represent rotary inertia；What the load torque observation submodel was established according to extended state observer, and will observation The load torque gone out carries out feedforward compensation.
Optionally, the control module includes：
Amplitude limiting processing unit, amplitude limiting processing is carried out for the control output signal；
Subelement is controlled, for being carried out according to the control output signal after handling to the Permanent-magnet Synchronous-motor Speed Servo System Rotating speed controls.
Optionally, the first-order linear Active Disturbance Rejection Control submodel includes first-order linear tracking derivative controller, second order line Property extended state observer and first-order linear state error feedback rate control；
The first-order linear tracks derivative controllerWherein, z11For the given letter after transition Number, ν tracks the gain of derivative controller, ω for the first-order linearmFor Setting signal；
The second-order linearity extended state observer isWherein, z21For it is described forever The observation of magnetic-synchro motor speed regulation system output variable, z22For the observation of Permanent-magnet Synchronous-motor Speed Servo System synthesis disturbance Value, β21And β22For the control gain of the second-order linearity extended state observer,For the rotor velocity；
The first-order linear state error feedback rate control isWherein, β11For control coefrficient, u0 Exported for error feedback rate control, u is the output signal of the first-order linear Active Disturbance Rejection Control submodel.
Optionally, the identification of rotational inertia submodel is established according to Landau identification algorithm, including：
The identification of rotational inertia submodel is established according to reference model, adjustable model and identification algorithm；
The reference model is ωm(g)=2 ωm(g-1)-ωm(g-2)+b (g-1) U (g-1), the adjustable model areThe identification algorithm is Wherein, sampling time Ts, b (g)=Ts/ J, U (g)=Te(g-1)-Te(g-2), TeFor Electromagnetic torque, β are Self Adaptive Control gain.
Optionally, the load torque observation submodel is established according to extended state observer, including：
According to extended state observerEstablish the load torque observation submodule Type, wherein,For the observation of load torque, B is viscosity friction coefficient, and fal (e) is nonlinear function, k1And k2Turn for load The control gain of square observer.
The embodiments of the invention provide a kind of Auto-disturbance-rejection Control of Permanent-magnet Synchronous-motor Speed Servo System and system, pass through Gather the rotor velocity and torque current of Permanent-magnet Synchronous-motor Speed Servo System；The active disturbance rejection adapted to using the disturbance pre-established Model is handled rotor velocity and torque current, obtains controlling output signal；It is same to permanent magnetism according to control output signal Walk motor speed regulation system and carry out rotating speed control；Active disturbance rejection model is according to first-order linear Active Disturbance Rejection Control submodel, rotary inertia Recognize submodel and load torque observes what submodel was established；Identification of rotational inertia submodel is established according to Landau identification algorithm , and the rotary inertia by picking out and calculation relational expression b0=Kt/ J controls gain b to system0It is adjusted, wherein, Kt Moment coefficient is represented, J represents rotary inertia；Load torque observation submodel is established according to extended state observer, and will be seen The load torque measured carries out feedforward compensation.
Active disturbance rejection model in the embodiment of the present invention picks out PMSM Speed by using Landau identification algorithm The rotary inertia of system, and gain is controlled to the system of Permanent-magnet Synchronous-motor Speed Servo System automatically using the rotary inertia picked out b0It is adjusted, so as to realize the automatic adjusument of perturbation of inertia, while permanent-magnet synchronous is observed by extended state observer The load torque of motor speed regulation system, and compensated using the load torque as feedforward, so as to realize the adaptive of load disturbance It should control.The embodiment of the present invention improves to controlling gain b in use0Regulation accuracy, improve permanent-magnet synchronous The antijamming capability of motor speed regulation system.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to institute in prior art and embodiment The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings Obtain other accompanying drawings.
Fig. 1 is a kind of flow of the Auto-disturbance-rejection Control of Permanent-magnet Synchronous-motor Speed Servo System provided in an embodiment of the present invention Schematic diagram；
Fig. 2 is a kind of structured flowchart for disturbing adaptive Active Disturbance Rejection Control provided in an embodiment of the present invention；
Fig. 3 is a kind of structure of the Active Disturbance Rejection Control system of Permanent-magnet Synchronous-motor Speed Servo System provided in an embodiment of the present invention Schematic diagram.
Embodiment
The embodiments of the invention provide a kind of Auto-disturbance-rejection Control of Permanent-magnet Synchronous-motor Speed Servo System and system, makes Improved during to controlling gain b0Regulation accuracy, improve the anti-interference energy of Permanent-magnet Synchronous-motor Speed Servo System Power.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 is refer to, Fig. 1 is a kind of Active Disturbance Rejection Control of Permanent-magnet Synchronous-motor Speed Servo System provided in an embodiment of the present invention The schematic flow sheet of method.
This method includes：
S11：Gather the rotor velocity and torque current of Permanent-magnet Synchronous-motor Speed Servo System；
S12：The active disturbance rejection model adapted to using the disturbance pre-established is handled rotor velocity and torque current, Obtain controlling output signal；
Rotating speed control is carried out to Permanent-magnet Synchronous-motor Speed Servo System according to control output signal；
Active disturbance rejection model is according to first-order linear Active Disturbance Rejection Control submodel, identification of rotational inertia submodel and load torque Observe what submodel was established；Identification of rotational inertia submodel is established according to Landau identification algorithm, and the rotation by picking out Inertia and calculation relational expression b0=Kt/ J controls gain b to system0It is adjusted, wherein, KtMoment coefficient is represented, J represents to rotate Inertia；Load torque observation submodel is established according to extended state observer, and the load torque observed is feedovered Compensation.
Further, rotating speed control is carried out to Permanent-magnet Synchronous-motor Speed Servo System according to control output signal in above-mentioned S12 The process of system is：
Output signal is controlled to carry out amplitude limiting processing, and according to the control output signal after processing to PMSM Speed System carries out rotating speed control.
Specifically, carrying out amplitude limiting processing to control output signal, controller output can be avoided to exceed to a certain extent The maximum tolerance range of Permanent-magnet Synchronous-motor Speed Servo System, so as to the safety of safeguards system.
It should be noted that the permagnetic synchronous motor in the embodiment of the present invention can be the mounted permagnetic synchronous motor in face.Can To be first modeled to controlled device, because permagnetic synchronous motor is a quilt that non-linear, cross-couplings and multivariable be present Object is controlled, the electromagnetic coupled relation for having complexity during operating, so the present invention can be beforehand with following design：
Ignore vortex, magnetic hystersis loss and magnetic circuit saturation, each alternate self-induction and mutual inductance are constant；The high order for ignoring stator field is humorous Ripple and counter electromotive force are in Sine distribution；Ignore rotor and permanent magnet damping；Three-phase windings are symmetrical, spatially 120 degree of mutual deviation and just The magnetomotive force of string distribution.
The permagnetic synchronous motor equation that can be established on the basis of above-mentioned hypothesis under two-phase rotating coordinate system dq axlesFlux linkage equationsTorque and the equation of motionWithWherein, ud,uq,id,iq,ψd,ψq, stator voltage, electric current and magnetic respectively under dq axis coordinate systems Logical, R is stator resistance, ωeFor rotor angular rate, B is viscosity friction coefficient, ωmFor rotor machinery angular speed, ψfFor permanent magnetism Body magnetic linkage, L are stator winding inductance, and p is magnetic pole logarithm, and J is rotary inertia, TeFor electromagnetic torque, TLFor load torque, KtFor Moment coefficient.
Specifically, the exponent number of Active Disturbance Rejection Control is relevant with the exponent number of controlled device, because the cut-off frequency of electric current loop is far high In the cut-off frequency (being typically larger than 5 times) of speed ring, so can be by the transmission function of electric current loop when design speed ring controls 1 is equivalent to, der Geschwindigkeitkreis can be equivalent to first order inertial loop, and der Geschwindigkeitkreis control object can pass through the motion of permagnetic synchronous motor EquationTo describe, i.e.,
ByWithFurther obtainSo as to obtainWhereinRepresent rotating speed The synthesis disturbance information of ring, including load torque disturbance, viscous friction, rotary inertia disturbance etc.,System controls gain. If x1=ωm、x2=fωAnd u=iq, thenIt can be write as the form of state equationTo reach control With Immunity Performance, it is only necessary to make the synthesis disturbance quantity that system is free of in control output quantity, therefore first-order linear can be built certainly The output control amount of disturbance rejection control submodel is
Specifically, first-order linear Active Disturbance Rejection Control submodel includes first-order linear tracking derivative controller, second-order linearity expands Open state observer and first-order linear state error feedback rate control；
First-order linear tracks derivative controller (LTD)Wherein, z11For the given letter after transition Number, ν tracks the gain of derivative controller, ω for first-order linearmFor Setting signal；
First-order linear tracking derivative controller plays a transition role to system Setting signal, can alleviate quick response to system Overshoot is produced, because first order inertial loop has the ability of signal transition, therefore, tracking derivative controller for first-order linear can To be established according to first order inertial loop, and gain ν is small, then tracking accuracy is high, speed is slow, and gain ν is big, then tracking velocity Hurry up, precision it is low, therefore gain ν needs to carry out balance to the speed and precision of tracking to be configured.
Second-order linearity extended state observer (LESO) isWherein, z21For permanent magnetism The observation of synchronous motor governing system output variable, z22For the observation of Permanent-magnet Synchronous-motor Speed Servo System synthesis disturbance, β21 And β22For the control gain of second-order linearity extended state observer,For rotor velocity；
The state observer of automatic disturbance rejection controller is the core of controller, for the comprehensive disturbance of observation system and correlation-like State variable.Therefore, the performance of automatic disturbance rejection controller is directly influenceed by state observer accuracy of observation, and the input signal of observer is Given input quantity and the reality output amount of controller, the comprehensive disturbance observed are used as feedforward compensation into controller, therefore, Pass through formulaSecond-order linearity extended state observer can be established, makes z21=ωτ, z22=fω, so as to obtain as above Described second-order linearity extended state observer.
First-order linear state error feedback rate control (LSEF) isWherein, β11For control coefrficient, u0Exported for error feedback rate control, u is the output signal of first-order linear Active Disturbance Rejection Control submodel；
The amount of transition and second order that first-order linear state error feedback rate control exports first-order linear tracking derivative controller The state variable that linear extended state observer observes asks for state error, and forming final control by control rate exports Amount, in linear condition error feedback rate control, the output quantity of control rate can make controlled pair with the uncertain disturbance of compensation system As being equivalent to pure integral element, for pure integral element, Linear Control rate can be used to be controlled for ratio and realized to given nothing Error tracks, so as to obtain linear state error feedback control rate as described above.
Further, identification of rotational inertia submodel is established according to Landau identification algorithm, including：
Identification of rotational inertia submodel is established according to reference model, adjustable model and identification algorithm；
Reference model is ωm(g)=2 ωm(g-1)-ωm(g-2)+b (g-1) U (g-1), adjustable model are Identification algorithm is Wherein, sampling time Ts, b (g)=Ts/ J, U (g)=Te(g-1)-Te(g-2), TeFor electromagnetic torque, β increases for Self Adaptive Control Benefit.
Specifically, preferably being recognized in the embodiment of the present invention using Landau algorithm to rotary inertia, Landau algorithm is It is made up of reference model, adjustable model and identification algorithm three parts, wherein, reference model is to wait to estimate in actual physics system mould The equation of parameter, adjustable model are the model containing unknown parameter estimate, and identification algorithm is to reference model and adjustable model Deviation be modified and constantly correct adjustable model control rate.
In Permanent-magnet Synchronous-motor Speed Servo System, the rotor velocity sampling time of system is Ts, then rotor velocity can To be expressed asThe then equation of motion according to permagnetic synchronous motor When ignoring viscosity friction coefficient B, can obtainThen in formula ωm(g) Previous moment can be expressed as
Due to the mechanical structure reason of real system, the change of load torque is much larger than the rotor velocity sampling period, because This is believed that the load torque at two neighboring moment is constant, then has formula ωmAnd formula ω (g)m(g-1) subtracting each other to obtainThe identification item that system can further be obtained is B (g)=Ts/ J and U (g)=Te(g-1)-Te(g-2), calculated so as to further obtain above-mentioned reference model, adjustable model and identification Method, so as in the case where picking out b (g), pass through b (g)=Ts/ J calculates corresponding system rotary inertia value, further Gain b is controlled by system0With the relation b of system rotary inertia0=Kt/ J carrys out regulating system control gain b0。
Further, load torque observation submodel is established according to extended state observer, including：
According to extended state observerLoad torque observation submodel is established, Wherein,For the observation of load torque, fal (e) is nonlinear function, k1And k2For the control gain of load torque observer.
It should be noted that the embodiment of the present invention is to realize the quick and precisely observation to load torque, using expansion shape State observer establishes load torque observation submodel, and realizes the observation to load torque.In Permanent-magnet Synchronous-motor Speed Servo System In, because the change of load torque is much larger than the rotor velocity sampling period, it is possible to think to bear within a sampling period Set torque is constant, therefore can obtainByWithPermagnetic synchronous motor can be drawn Dynamic (dynamical) state equation isExpansion state sight can further be established Surveying device isWhereinFal (e) is nonlinear function, and its function expression isWherein：Cs=[1 0],Y=ωm, andFor STATE FEEDBACK CONTROL coefficient also and observer configuration pole Point.Extended state observer as described above can further be obtained.
It can be seen that on the one hand control gain b0Automatic adjusument mode be：
In the case of zero load, automatic disturbance rejection controller Optimal Control gain b is adjusted outest, setting initial control gain b0= best, system rotary inertia changes with the change of disturbance under the influence of external disturbance, is recognized using by Landau identification algorithm Rotary inertia, and according to the rotary inertia of identification and control gain b0Relation b0=Kt/ J carrys out dynamic regulation control gain b0。
On the other hand, load torque feedforward compensation regulative mode is：
Load torque can change therewith under the influence of external disturbance, and violent shock wave can cause the pressure of observer It is excessive, cause Active Disturbance Rejection Control ineffective, disturbed by using extended state observer observation system load torque, pass through sight The load torque of survey carries out feedforward compensation to automatic disturbance rejection controller, realizes the Active Disturbance Rejection Control of load disturbance adaptation.Load is disturbed Dynamic compensation, reach the pressure for reducing extended state observer in automatic disturbance rejection controller, while also improve Active Disturbance Rejection Control Anti-loading ability.
Specific to refer to Fig. 2, Fig. 2 is a kind of structure for disturbing adaptive Active Disturbance Rejection Control provided in an embodiment of the present invention Block diagram.
As shown in Figure 2, corresponding connected mode is that the input of single order LTD modules is first-order linear Active Disturbance Rejection Control submodule The first input end of type, for receiving Setting signal；The output end of single order LTD modules connects with the input of single order LSEF modules Connect；The output end and 1/b of single order LSEF modules0The input connection of module；The output ends of 1/b0 modules and clipping module it is defeated Enter end connection；The output end of clipping module and the input of Plant (being Permanent-magnet Synchronous-motor Speed Servo System in the present embodiment) module End connection, output end and the input of second order LESO modules of Plant modules connect；The output of second order LESO modules respectively with single order LSEF modules and 1/b0The input connection of module；The output end of load torque observation module is connected with the input of δ modules, its Input receives rotor velocity respectivelyWith torque current iq；The output end and 1/b of identification of rotational inertia module0Module it is defeated Enter end connection (and then to b0Carry out dynamic regulation)；The output end of δ modules and the input of clipping module connect.The present invention is implemented Active disturbance rejection model in example picks out the rotary inertia of Permanent-magnet Synchronous-motor Speed Servo System, and profit by using Landau identification algorithm It is adjusted with system control gain b0 of the rotary inertia picked out automatically to Permanent-magnet Synchronous-motor Speed Servo System, so as to realize The automatic adjusument of perturbation of inertia, while observe that the load of Permanent-magnet Synchronous-motor Speed Servo System turns by extended state observer Square, and compensated using the load torque as feedforward, so as to realize the Self Adaptive Control of load disturbance.The embodiment of the present invention exists The regulation accuracy to controlling gain b0 is improved during use, improves the anti-interference energy of Permanent-magnet Synchronous-motor Speed Servo System Power.
The embodiment of the invention also discloses a kind of Active Disturbance Rejection Control system of Permanent-magnet Synchronous-motor Speed Servo System, tool accordingly Body refer to Fig. 3, and Fig. 3 is a kind of Active Disturbance Rejection Control system of Permanent-magnet Synchronous-motor Speed Servo System provided in an embodiment of the present invention Structural representation.On the basis of above-described embodiment：
The system includes：
Acquisition module 1, for gathering the rotor velocity and torque current of Permanent-magnet Synchronous-motor Speed Servo System；
Processing module 2, the active disturbance rejection model for being adapted to using the disturbance pre-established are electric to rotor velocity and torque Stream is handled, and obtains controlling output signal；
Control module 3, for carrying out rotating speed control to Permanent-magnet Synchronous-motor Speed Servo System according to control output signal；
Active disturbance rejection model is according to first-order linear Active Disturbance Rejection Control submodel, identification of rotational inertia submodel and load torque Observe what submodel was established；Identification of rotational inertia submodel is established according to Landau identification algorithm, and the rotation by picking out Inertia and calculation relational expression b0=Kt/ J controls gain b to system0It is adjusted, wherein, KtMoment coefficient is represented, J represents to rotate Inertia；Load torque observation submodel is established according to extended state observer, and the load torque observed is feedovered Compensation.
Optionally, control module 3 includes：
Amplitude limiting processing unit, for controlling output signal to carry out amplitude limiting processing；
Subelement is controlled, for carrying out rotating speed to Permanent-magnet Synchronous-motor Speed Servo System according to the control output signal after handling Control.
Optionally, first-order linear Active Disturbance Rejection Control submodel includes first-order linear tracking derivative controller, second-order linearity expands Open state observer and first-order linear state error feedback rate control；
First-order linear tracks derivative controllerWherein, z11For the Setting signal after transition, ν is First-order linear tracks the gain of derivative controller, ωmFor Setting signal；
Second-order linearity extended state observer isWherein, z21For permanent magnet synchronous electric The observation of machine governing system output variable, z22For the observation of Permanent-magnet Synchronous-motor Speed Servo System synthesis disturbance, β21And β22For The control gain of second-order linearity extended state observer,For rotor velocity；
First-order linear state error feedback rate control isWherein, β11For control coefrficient, u0For by mistake Poor feedback rate control output, u are the output signal of first-order linear Active Disturbance Rejection Control submodel.
Optionally, identification of rotational inertia submodel is established according to Landau identification algorithm, including：
Identification of rotational inertia submodel is established according to reference model, adjustable model and identification algorithm；
Reference model is ωm(g)=2 ωm(g-1)-ωm(g-2)+b (g-1) U (g-1), adjustable model are Identification algorithm is Wherein, sampling time Ts, b (g)=Ts/ J, U (g)=Te(g-1)-Te(g-2), TeFor electromagnetic torque, β increases for Self Adaptive Control Benefit.
Optionally, load torque observation submodel is established according to extended state observer, including：
According to extended state observerLoad torque observation submodel is established, Wherein,For the observation of load torque, B is viscosity friction coefficient, and fal (e) is nonlinear function, k1And k2For load torque The control gain of observer.
It should be noted that the active disturbance rejection model in the embodiment of the present invention picks out permanent magnetism by using Landau identification algorithm The rotary inertia of synchronous motor governing system, and using the rotary inertia picked out automatically to Permanent-magnet Synchronous-motor Speed Servo System System control gain b0It is adjusted, so as to realize the automatic adjusument of perturbation of inertia, while is seen by extended state observer The load torque of Permanent-magnet Synchronous-motor Speed Servo System is measured, and is compensated using the load torque as feedforward, it is negative so as to realize Carry the Self Adaptive Control of disturbance.The embodiment of the present invention improves to controlling gain b in use0Regulation accuracy, carry The high antijamming capability of Permanent-magnet Synchronous-motor Speed Servo System.
Implement in addition, the specific introduction for control method involved in the embodiment of the present invention refer to the above method Example, the application will not be repeated here.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other The difference of embodiment, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment For, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is said referring to method part It is bright.
It should also be noted that, in this manual, such as first and second or the like relational terms be used merely to by One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation Between any this actual relation or order be present.Moreover, term " comprising ", "comprising" or its any other variant meaning Covering including for nonexcludability, so that process, method, article or equipment including a series of elements not only include that A little key elements, but also the other element including being not expressly set out, or also include for this process, method, article or The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged Except other identical element in the process including the key element, method, article or equipment being also present.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and The interchangeability of software, the composition and step of each example are generally described according to function in the above description.These Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical scheme.Specialty Technical staff can realize described function using distinct methods to each specific application, but this realization should not Think beyond the scope of this invention.
Directly it can be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), internal memory, read-only deposit Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology In the storage medium of any other forms well known in field.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention. A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one The most wide scope caused.

Claims (10)

  1. A kind of 1. Auto-disturbance-rejection Control of Permanent-magnet Synchronous-motor Speed Servo System, it is characterised in that including：
    Gather the rotor velocity and torque current of Permanent-magnet Synchronous-motor Speed Servo System；
    The active disturbance rejection model adapted to using the disturbance pre-established is handled the rotor velocity and the torque current, Obtain controlling output signal；
    Rotating speed control is carried out to the Permanent-magnet Synchronous-motor Speed Servo System according to the control output signal；
    The active disturbance rejection model is according to first-order linear Active Disturbance Rejection Control submodel, identification of rotational inertia submodel and load torque Observe what submodel was established；The identification of rotational inertia submodel establishes according to Landau identification algorithm, and by picking out Rotary inertia and calculation relational expression b0=Kt/ J controls gain b to system0It is adjusted, wherein, the KtRepresent moment coefficient, The J represents rotary inertia；Load torque observation submodel establishes according to extended state observer, and will observe Load torque carries out feedforward compensation.
  2. 2. the Auto-disturbance-rejection Control of Permanent-magnet Synchronous-motor Speed Servo System according to claim 1, it is characterised in that described It is according to the process for controlling output signal to control Permanent-magnet Synchronous-motor Speed Servo System progress rotating speed：
    The control output signal carries out amplitude limiting processing, and according to the control output signal after processing to the permagnetic synchronous motor Governing system carries out rotating speed control.
  3. 3. the Auto-disturbance-rejection Control of Permanent-magnet Synchronous-motor Speed Servo System according to claim 1 or 2, it is characterised in that The first-order linear Active Disturbance Rejection Control submodel includes first-order linear tracking derivative controller, second-order linearity extended state observer With first-order linear state error feedback rate control；
    The first-order linear tracks derivative controllerWherein, z11For the Setting signal after transition, ν is The gain of the first-order linear tracking derivative controller, ωmFor Setting signal；
    The second-order linearity extended state observer isWherein, z21It is same for the permanent magnetism Walk the observation of motor speed regulation system output variable, z22The observation disturbed for Permanent-magnet Synchronous-motor Speed Servo System synthesis, β21And β22For the control gain of the second-order linearity extended state observer,For the rotor velocity；
    The first-order linear state error feedback rate control isWherein, β11For control coefrficient, u0For by mistake Poor feedback rate control output, u are the output signal of the first-order linear Active Disturbance Rejection Control submodel.
  4. 4. the Auto-disturbance-rejection Control of Permanent-magnet Synchronous-motor Speed Servo System according to claim 3, it is characterised in that described Identification of rotational inertia submodel is established according to Landau identification algorithm, including：
    The identification of rotational inertia submodel is established according to reference model, adjustable model and identification algorithm；
    The reference model is ωm(g)=2 ωm(g-1)-ωm(g-2)+b (g-1) U (g-1), the adjustable model areThe identification algorithm is Wherein, sampling time Ts, b (g)=Ts/ J, U (g)=Te(g-1)-Te(g-2), TeFor electromagnetic torque, β increases for Self Adaptive Control Benefit.
  5. 5. the Auto-disturbance-rejection Control of Permanent-magnet Synchronous-motor Speed Servo System according to claim 4, it is characterised in that described Load torque observation submodel is established according to extended state observer, including：
    According to extended state observerThe load torque observation submodel is established, its In,For the observation of load torque, B is viscosity friction coefficient, and fal (e) is nonlinear function, k1And k2Seen for load torque Survey the control gain of device.
  6. A kind of 6. Active Disturbance Rejection Control system of Permanent-magnet Synchronous-motor Speed Servo System, it is characterised in that including：
    Acquisition module, for gathering the rotor velocity and torque current of Permanent-magnet Synchronous-motor Speed Servo System；
    Processing module, for the active disturbance rejection model using the disturbance adaptation pre-established to the rotor velocity and the torque Electric current is handled, and obtains controlling output signal；
    Control module, for carrying out rotating speed control to the Permanent-magnet Synchronous-motor Speed Servo System according to the control output signal；
    The active disturbance rejection model is according to first-order linear Active Disturbance Rejection Control submodel, identification of rotational inertia submodel and load torque Observe what submodel was established；The identification of rotational inertia submodel establishes according to Landau identification algorithm, and by picking out Rotary inertia and calculation relational expression b0=Kt/ J controls gain b to system0It is adjusted, wherein, the KtRepresent moment coefficient, The J represents rotary inertia；Load torque observation submodel establishes according to extended state observer, and will observe Load torque carries out feedforward compensation.
  7. 7. the Active Disturbance Rejection Control system of Permanent-magnet Synchronous-motor Speed Servo System according to claim 6, it is characterised in that described Control module includes：
    Amplitude limiting processing unit, amplitude limiting processing is carried out for the control output signal；
    Subelement is controlled, for carrying out rotating speed to the Permanent-magnet Synchronous-motor Speed Servo System according to the control output signal after handling Control.
  8. 8. the Active Disturbance Rejection Control system of the Permanent-magnet Synchronous-motor Speed Servo System according to claim 6 or 7, it is characterised in that The first-order linear Active Disturbance Rejection Control submodel includes first-order linear tracking derivative controller, second-order linearity extended state observer With first-order linear state error feedback rate control；
    The first-order linear tracks derivative controllerWherein, z11For the Setting signal after transition, ν is The gain of the first-order linear tracking derivative controller, ωmFor Setting signal；
    The second-order linearity extended state observer isWherein, z21It is same for the permanent magnetism Walk the observation of motor speed regulation system output variable, z22The observation disturbed for Permanent-magnet Synchronous-motor Speed Servo System synthesis, β21And β22For the control gain of the second-order linearity extended state observer,For the rotor velocity；
    The first-order linear state error feedback rate control isWherein, β11For control coefrficient, u0For by mistake Poor feedback rate control output, u are the output signal of the first-order linear Active Disturbance Rejection Control submodel.
  9. 9. the Active Disturbance Rejection Control system of Permanent-magnet Synchronous-motor Speed Servo System according to claim 8, it is characterised in that described Identification of rotational inertia submodel is established according to Landau identification algorithm, including：
    The identification of rotational inertia submodel is established according to reference model, adjustable model and identification algorithm；
    The reference model is ωm(g)=2 ωm(g-1)-ωm(g-2)+b (g-1) U (g-1), the adjustable model are The identification algorithm is Wherein, sampling time Ts, b (g)=Ts/ J, U (g)=Te(g-1)-Te(g-2), TeFor electromagnetic torque, β increases for Self Adaptive Control Benefit.
  10. 10. the Active Disturbance Rejection Control system of Permanent-magnet Synchronous-motor Speed Servo System according to claim 9, it is characterised in that institute State what load torque observation submodel was established according to extended state observer, including：
    According to extended state observerThe load torque observation submodel is established, its In,For the observation of load torque, B is viscosity friction coefficient, and fal (e) is nonlinear function, k1And k2Seen for load torque Survey the control gain of device.
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CN114499314A (en) * 2022-01-05 2022-05-13 华中科技大学 Active-disturbance-rejection control method for permanent magnet synchronous motor
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